JPH0699303A - Robot hand used in chuck claw automatic exchanging device - Google Patents

Abstract

PURPOSE:To always stably carry out the exchanging work of claws between a stocker and a cassette by a robot hand, regardless of the weight of the claws, by equipping a main body with guide blocks which perform the upward/ downward insertional guide of the claws hung on a shift body by the ascending/ descending motion of the shift body. CONSTITUTION:A hand main body 189 attached to the end of the three- dimensionally movable supporting arm 310 of a robot is equipped with a shift body 201 on which claws 12 can be hung, through a ball screw mechanism 204 as being able to be moved upward/downward freely, and right/left guide blocks 198 which perform the upward/downward insertional guide of the claws 12 hung on the shift body 201. When the claws are exchanged between a stocker and a claw holder, a robot hand moves to the claw 12 held at one side, this claw 12 is hung on the descending shift body 201 and insertionally guided in the guide block 198 by the ascent of the shift body 201. The claw 12 is transported to the other side by the movement of the robot hand, as being kept in the condition of being accurately positioned and held.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand used in an automatic chuck jaw changing device.

[0002]

2. Description of the Related Art A conventional chuck claw automatic changer is disclosed in Japanese Patent Application Laid-Open No. 61-71905 by the present applicant, which is composed of a chuck and a claw storage magazine (claw holder). The jaws are automatically exchanged by the nail moving device between them, and the gripper (robot hand) provided on the wrist, which is three-dimensionally movable of the robot, can be freely moved between the nail stocker and the nail storage magazine, which are separately arranged. Was supposed to replace the nail.

[0003]

In the conventional automatic chuck claw changer, when the claws are gripped by the gripper between the claw stocker and the claw storage magazine, the weight of the claws gripped by the gripper becomes large. During the transportation, the gripping state of the claws changed due to the influence of vibration, etc., and sometimes the other party could not get in properly.

[0004]

In order to solve the above problems, the present application discloses a robot hand for automatically exchanging a claw between a chuck and a claw holder and a separately provided stocker and claw holder. In a chuck claw automatic changer configured to automatically change claws by means of the robot hand, a shift body capable of catching the claw is provided on the main body of the robot hand so as to be vertically movable, and is hooked on the shift body. It is characterized in that a guide block is provided for guiding the claws in the vertical direction.

[0005]

[Operation] When exchanging the claw between the stocker and the claw holder, the robot hand moves to the claw held on one side,
This claw is hooked on the shift body in the lowered state, and is further guided by being fitted into the guide block by raising the shift body. Then, the claw is conveyed to the other by the movement of the robot hand while maintaining the state of being accurately positioned and held.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of an automatic chuck jaw changing device 320 will be described with reference to the drawings. The chuck 6 (shown as a three-jaw chuck in this embodiment) attached to the spindle 3 of the machine tool 1 uses the jaws as chucks. It is moved in the radial direction for attachment / detachment.
It has been disclosed in Japanese Patent Publication No. 71905. First, referring to FIGS. 1, 2, and 3, a table 34 on which each device is mounted
Moves on the guide base rail 32 on the headstock 2 to the forward end position (shown in FIG. 2) and the backward end position (shown in FIG. 7) by the operation of the forward / backward movement cylinder 35.

A concave guide block 87 for guiding the claws 12 is attached to the front of the table 34.
A cylinder body 92 of a nail removing cylinder 91 described later is fixed to the rear surface of the guide block 87, and T-shaped left and right cassette guide rails 41 are provided on the upper surface of the cylinder body 92. This cassette guide rail 41
On the upper surface of the mounting groove 161 over the entire length in the longitudinal direction.
The left and right pin guide rails 55 having an L-shaped cross section are mounted in the mounting groove 161. The pin guide rail 55 is cut out at a portion facing the upper piston rod 91a of a nail removing cylinder 91 described later.

A T-shaped groove 162 (shown in FIG. 2) formed on the lower surface of the cassette 39 is fitted to the cassette guide rail 41, and the cassette 39 is slidably movable on the cassette guide rail 41. This cassette 39 has four holding grooves (first, second, third and fourth holding grooves 163, 164, 1 in order from the rightmost one) which are open to the front and upper and lower surfaces thereof.
65, 166) are provided at equal intervals, and each holding groove 1
The left and right facing surfaces forming 63, 164, 165 and 166 are guide grooves 45 that guide the sliding portion 13 of the claw 12. Further, a positioning hole 46 into which a positioning pin 76, which will be described later, is fitted is formed in a substantially central portion of the rear surface of the cassette 39. Each of the holding grooves 163, 164, 16 is provided in the cassette 39.
Sliding holes 167 are formed in the front surfaces of the gears 5, 166, and the tips of the rack teeth 16 on the front surface of the claw 12 are provided in the sliding holes 167.
A claw locking pin 51 formed on a locking piece 53 that engages with is fitted to be movable back and forth. A guide pin 168 is planted on the peripheral surface of the claw locking pin 51. A vertical through hole 169 is formed in the cassette 39 so as to partially intersect the sliding hole 167, and the operating piece 104 is slidably fitted in the through hole 169. This operating piece 1
A guide groove 173 including a vertical portion 171 and an inclined portion 172 is formed on the notch surface of 04, and the guide pin 168 of the pawl locking pin 51 is engaged in the guide groove 173. Further, at the lower end of the operating piece 104, the claw removing cylinder 9
An engaging portion 106 that is engageable with the hooking portion 183 of the upper piston rod 91a of No. 1 or the pin guide rail 55 is formed.

Next, the traverse device 65 will be described. First, a traverse cylinder 66 which is a known magnet type rodless cylinder (for example, disclosed in Japanese Utility Model Laid-Open No. 2-21305 by the applicant) will be described. Left and right side plates 70 mounted on the table 34.
A cylinder tube 66a is attached in between, and a slider 72 is slidably fitted on the cylinder tube 66a. An L-shaped mounting member 175 is mounted on the front surface of the slider 72, and on the front surface of the mounting member 175,
A positioning pin 76 fitted into the positioning hole 46 of the cassette 39 is fixed, and the lower portion of the mounting member 175 is in contact with the left and right stopper bolts 81 and 82 (shown in FIG. 1) mounted on the left and right side plates 70, respectively. The contact member 80 is capable of contacting.

Next, a stopper cylinder 68 which is a magnet type rodless cylinder and which can be stopped at three positions, similar to the traverse cylinder 66, will be described.
A cylinder tube 177 and a guide rod 178 are arranged in parallel between the front and rear mounting plates 176 on the table 34, and the slider 1 is attached to the cylinder tube 177 and the guide rod 178.
79 is slidably mounted in the front-rear direction. A support member 180 is attached to the lower surface of the slider 179,
The supporting member 180 has a holding groove 1 for the cassette 39.
The control pin 182 having the same length as the pitch between the 63, 164, 165 and 166 and the control pin 18 having a length twice this pitch.
1 are arranged side by side. Therefore, when the stopper cylinder 68 is operated to position the slider 179 at the intermediate protruding position or the forward protruding position at a desired time, the long and short regulation pins 18 are
Either of 1 and 182 enters between the left stopper bolt 81 and the abutting member 80, restricts the traverse of the slider 72 of the traverse cylinder 66 to the left, and holds the holding groove 16
4 (165) is positioned vertically above the guide block 87.

Next, the claw removing cylinder 91 will be explained. As shown in FIG. 2, the claw removing cylinder 91 is a double rod type cylinder, and the lower piston rod 91b is provided at the lower end thereof with the engaging member 18 (the claw of the claw) of the chuck 6 via a mounting plate 93. A push-in pin 94 that pushes in the operation pin 19 for moving the rack (to engage with the rack) forward and backward is provided. The upper end of the upper piston rod 91a has an engaging portion 1 of the operating piece 104 provided on the cassette 39.
It is formed in the hooking part 183 which engages with 06. Therefore, as shown in FIG. 2, when the claw removing cylinder 91 in the raised state is operated to lower the operating piece 104 together with the upper piston rod 91a, the guide pin 168 of the claw locking pin 51 has its guide pin 168 guided by the guide groove 173 of the operating piece 104. Is retracted in the non-locking direction by being guided by the inclined portion 172 of the locking piece 5 of the tip of the claw locking pin 51.
3 stops the engagement of the pawl 12 with the rack teeth 16 and then the upper piston rod 91a and the operating piece 104 further descend, but the guide pin 168 of the pawl locking pin 51 moves the operating piece 104.
Since it is guided by the vertical portion 171 of the guide groove 173, the claw locking pin 51 is stopped at the retracted position. That is, the claw locking pin 51 is moved back and forth with a stroke shorter than the stroke length of the claw removing cylinder 91. A hooking member 196 of a robot hand 185 described later or a hooking member 18 that can be engaged with the shift body 201 is provided on the upper surface of the claw 12.
6 is provided via a mounting piece 187.

Next, the stocker 300 and the robot 299 arranged around the installation position of the machine tool 1 will be described with reference to FIGS. First, stocker 3
00, a plurality of (four in the drawing) claw holders 303 are fixed to the upper surface of the stocker body 301. The claw holder 303 has three (not limited to) three claw fitting grooves 304 at a predetermined pitch in the longitudinal direction.
Are formed. These claw fitting grooves 304 are designed so that the sliding portions 13 of the claws 12 mounted on the chuck 6 can be inserted and removed in the vertical direction so that they can be fitted in the claw fitting grooves 304 as shown in the drawing. A replacement claw 12 is fitted and stored. The stocker 300 may be made small and placed on a pallet so that each pallet can be exchanged. In this case, a robot hand for grasping a work, a tool, a measuring tool or the like is placed on another pallet. You may keep it.

Next, the robot 299 will be described. The guide rail 3 is parallel to the rotation axis of the chuck 6.
06 is provided. On this guide rail 306,
The support 307 is slidably fitted and mounted in the longitudinal direction, and is moved by the moving motor M1.
A column 308 that stands up is attached to the support 307. An elevating body 309 is attached to the column 308 so as to be able to move up and down and not to be relatively rotatable. The lifting body 309 is designed to be lifted and lowered by a lifting motor M2. This lifting body 309 has a horizontal support arm 3
10 is attached so as to be slidable in the longitudinal direction without rotating, and is slidable in the longitudinal direction by the expansion / contraction motor M3. A robot hand 185 described later is attached to the tip of the support arm 310. Further, the moving motor M1, the lifting motor M2, and the expansion / contraction motor M3.
Are connected to a control device 312 described later, and the control device 312 controls the respective motors M1 to M3 so that the robot hand 185 can be moved three-dimensionally.

Next, referring to FIGS.
The robot hand 185 for exchanging the claws 12 between the chuck 9 and the stocker 9 and between the cassette 39 indexed at the claw exchange position A and the chuck 6 will be described. An indexing motor M4 and a shifting motor M5 are fixed to the upper part of a cylindrical hand body 189 having a notch groove 188 formed in the vertical direction. A base portion 189a integrated with the hand body 189 is detachably fixed to the tip of the support arm 310 of the robot 299 (shown in FIG. 6). Hand body 18
A claw support member 192 is rotatably fitted around the outer periphery of the flange 9 and a flange portion 1 formed at the lower end of the hand body 189.
The vertical positioning is made by 89b.

The claw support member 192 has a gear 194 formed on the upper peripheral surface thereof, which is a gear 19 of the indexing motor M4.
It is possible to turn and index by meshing with 5. A hook member 196 for exchanging the claw between the chuck and the cassette is fixed to one outer wall of the four outer walls of the claw support member 192, and the tip of the hook member 196 engages with the hook piece 186 of the claw 12. Possible projections 197 are formed. Further, left and right guide blocks 198 for guiding the sliding portion 13 of the claw 12 are attached to the other three outer walls of the claw support member 192, and a cross section T extending vertically is formed at the center of each outer wall.
A V-shaped sliding groove 199 is formed. Each sliding groove 199
The hooking portion 200 capable of locking the hooking piece 186 of the claw 12
A T-shaped shift body 201 provided with is fitted slidably in the vertical direction. On the rear surface of the shift body 201, an engaging groove 202 that opens to the left and right side surfaces is formed, and the engaging groove 202 is attached to the upper outer periphery of the hand body 189
A portion corresponding to the cutout groove 188 is engaged with the notch retaining ring 203 which is cut out.

Further, a ball screw mechanism 204 is provided inside the hand body 189, and a screw rod 206 screwed with a nut body 205 has a gear 207 fixed on the upper portion thereof and a gear 208 of the shift motor M5. It can be engaged and rotated. Further, on the outer periphery of the nut body 205, an engagement piece 20 that can engage with the engagement groove 202 of the shift body 201.
9, the engaging piece 209 is located in the notch groove 188 of the hand body 189. Therefore, the robot hand 185 is provided with the shift body 201 for any claw 12.
And the state where the engagement piece 209 is in the raised position, that is, FIG.
In this state, the pawl support member 192 is swung by the action of the indexing motor M4 to index to the pawl exchange position C where the arbitrary pawl 12 and the shift body 201 holding the pawl 12 engages with the engagement piece 209, and The ball screw mechanism 204 is driven by the action of the shift motor M5 to move the nut body 205 up and down, and the vertical movement moves up and down the shift body 201 that engages with the engagement piece 209 of the nut body 205. 6 is shifted to a position indicated by a solid line and an imaginary line. Although the shift body 201 is vertically moved by the ball screw mechanism 204 in the robot hand 185, the present invention is not limited to this, and a linear cylinder or the like may be used. Reference numeral 210 shown in FIGS. 1 and 2 is an escape groove formed on the upper surface of the machine base 2. When the pawl removing cylinder 91 is operated in a state where the table 34 is located at the retracted end position, the pawl locking pin 51 is pawled. The push pin 94 attached to the lower piston rod 91b of the claw removing cylinder 91 is set to a depth that allows it to escape so as to retract to the position where the locking of 12 is stopped.

Next, the controller 312 connected to the motors M1 to M3 of the robot 299 and the motors M4 and M5 of the robot hand 185 as described above will be described. The control device 312 controls the motors M1 to M5 as described in the operation to be described later, and controls the robot hand 185.
Is positioned above the stocker 300 or above the cassette 39 when the table 34 is retracted, the pawls are exchanged between the robot hand and the cassette or between the robot hand and the stocker. Further, the control device 312 moves the robot hand 185, and the hook member 196 fixed to the robot hand 185 replaces the claw between the cassette and the chuck.

Next, the operation of the automatic chuck jaw changing device 320 configured as described above will be described. First, the used claw 12 (first holding groove 163) mounted on the cassette 39 is used.
Used claws 12 in other holding grooves 164, 165, 166
Is held. ) And robot hand 18
The replacement work with the next step claw 12 mounted on the No. 5 will be described. As shown in FIG. 7, while the machine tool 1 is processing a workpiece, on the table 34 located at the backward end position,
The controller 312 controls the motors M1 to M5 of the robot 299.
The robot hand 185 moves by controlling the. At this time, in the traverse device 65, the stopper cylinder 68 is in the retracted state and the traverse cylinder 66 acts so as to move the slider 72 to the left end, so that the first holding groove 163 of the cassette 39 where the claw 12 is not held is clawed. It is positioned at the exchange position A. The robot hand 18 is provided directly above the first holding groove 163.
Among the claws 12 hooked and held by the shift body 201 of No. 5, the claw 12 indexed to the claw exchange position C is located (shown by the solid line in FIG. 8). In addition, the nail removing cylinder 9
The operating piece 104 provided in the first holding groove 163 is engaged with the upper piston rod 91 a of the first piston.

Then, when the claw removing cylinder 91 in the raised state is operated by removing the claw, the operating piece 104 is lowered together with the upper piston rod 91a, and the guide pin 168 of the claw engaging pin 51 is guided by the guide groove 173 of the operating piece 104. The inclined portion 172
Guided by and moves backward in the non-locking direction. At this time, the push pin 94 integral with the lower piston rod 91b of the claw removing cylinder 91 is recessed into the clearance groove 210 formed on the headstock 2 of the machine tool 1. Thereafter, the shift motor M5 of the robot hand 185 is actuated to operate the nut body 205.
When the engaging piece 209 integrated with and the shift body 201 engaged with the engaging piece 209 are lowered, the claws 12 hooked and held by the shift body 201 are guided by the left and right guide blocks 198 of the robot hand 185. It is guided into the first holding groove 163 as shown by the phantom line in FIG.

Next, when the pawl removing cylinder 91 is operated to rise, the operating piece 104 moves up together with the upper piston rod 91a, the pawl locking pin 51 advances in the locking direction, and the locking piece at the tip of the pawl locking pin. 53 engages with the rack teeth 16 formed on the rear surface of the claw 12, and the claw 12 is held in the first holding groove 163. After that, in the traverse device 65, the slider 72 of the traverse cylinder 66 is moved to the right, the stopper cylinder 68 is brought into the intermediate protruding state, and the short regulating pin 182 is positioned between the left stopper bolt 81 and the contact member 80. When the cylinder barrel 72 of the traverse cylinder 66 is moved to the left again, the second holding groove 1 in which the used claw 12 of the cassette 39 is mounted as shown by the solid line in FIG.
64 is indexed to the nail replacement position A. This cassette 39
By the traverse, the shift body 201 of the robot hand 185 stops engaging with the hooking piece 186 of the claw 12 in the first holding groove 163 and the hooking piece 18 of the claw 12 in the second holding groove 164.
6 and the operating piece 1 provided in the second holding groove 164.
04 is engaged with the upper piston rod 91a of the claw removing cylinder 91, and the operating piece 104 provided in the other holding grooves 163, 165, 166 is guided by the pin guide rail 55.

Next, when the claw removing cylinder 91 is operated to remove the claw, the claw locking pin 51 is retracted in the non-locking direction to stop holding the claw 12 in the second holding groove 164, and the claw 12 shifts. It will be hooked and held only on. After that, the shift motor M5 of the robot hand 185 is driven to raise the shift body 201, and the claw 12 is positioned in a state shown by a virtual line in FIG.

After that, the robot hand 185 is retracted upward or backward to prevent interference in the indexing rotation,
In order to mount the claw 12 for the next process in the extracted second holding groove 164 of the claw 12, the indexing motor M5 of the robot hand 185 is operated to rotate the claw support member 192, and the claw support member 192 is newly moved to the claw replacement position C. The claw 12 for the next process is indexed, and then the robot hand is returned to above the second holding groove 164 located above the second holding groove 164 located at the claw exchange position A (shown in FIG. 10).

When the replacement of the first used claw 12 with the next process claw 12 is completed between the cassette 39 and the robot hand 185 as described above, the second claw 12 is then replaced by the same operation as described above. The nail is replaced, but the second holding groove 16
Cassette 39 after holding the claws 12 for the next process in 4
The positioning of the third holding groove 165 to the claw replacement position A by the traverse is performed as follows. That is, first, the slider 72 of the traverse cylinder 66 is moved to the right, and then the stopper cylinder 68 is set in the forward protruding state, and the length regulating pin 1 is provided between the left stopper bolt 81 and the contact member 80.
After positioning 81, the slider 72 of the traverse cylinder 66 is moved to the left again, and the third holding groove 165 of the cassette 39 is positioned at the exchange position A.

Further, in the operation of replacing the third claw by the same operation as described above, the fourth holding mechanism 166 is positioned at the claw exchange position A by moving the traverse cylinder 66 to the right and causing the right stopper bolt 82 to move. The contact member 80 contacts and the fourth holding groove 166 is positioned at the claw replacement position A. At this time, the stopper cylinder 68 is attached to the rear chuck-
Due to the work of replacing the claws between the cassettes, it is in the forward protruding state,
The long regulation pin 181 causes the left stopper bolt 81 and the contact member 8 to come into contact with each other.
It is kept in a state of being positioned between 0 and 0 (in addition, the claw removing cylinder 91 is raised). It should be noted that the above-described pawl exchanging operation between the robot hand and the cassette is performed with the table 34 positioned at the backward end position, but the machining by the machine tool is stopped and the table 34 is moved at the forward end position. In this case, it is possible to prevent the push pin 94 from pushing the operation pin 19 of the chuck 6 by the operation of the claw removing cylinder 91 in association with the claw replacement operation and the claw 12 attached to the chuck 6 from falling off. In order to do so, a rotary cylinder (not shown) is operated in the direction in which the chuck 6 is closed, and the stop of the spindle is controlled so that the pawl 12 attached to the chuck 6 is located outside the pawl replacement position. There is a need.

As described above, each of the used and the next process 3
After the pawl 12 of the book is exchanged between the cassette 39 and the robot hand 185, when a replacement command is issued from a command device (not shown) due to a change in the work to be processed next or other reasons, the spindle 3 is decelerated and rotated by this command. After stopping, and indexing one of the claws 12 attached to the chuck 6 to the claw exchange position B, the rotary cylinder (not shown) operates and the wedge piece (not shown) moves forward. The three claws 12 are moved to the replaceable position (the position where the grip of the work is released).

When the chuck 6 is indexed at a predetermined position in this way, the forward / backward movement cylinder 35 operates and the table 34 is positioned at the forward end position as shown in FIG.
The robot hand 185 controls the motors M1 to M3 of the robot 299 and the motors M4 and M5 of the robot hand 185 so that the robot hand 185 has the projection 197 of the catching member 196 and the catching piece 186 of the claw 12 held by the chuck 6. And are moved toward the front surface of the chuck 6 so that the hook piece 186 of the claw 12 of the chuck 6 is engaged with the projection piece 197 of the hook member 196 (solid line in FIG. 12 and FIG. 15).
Indicated by a virtual line on the chuck side. At this time, the cassette 39
Is the state at the time of completion of the claw replacement operation between the robot hand and the cassette, so that the first, second and third holding grooves 163, 16 are provided.
The claws 12 for the next process are held in the nozzles 4 and 165, and the fourth holding groove 166 in which the claws 12 are not held is indexed to the claw exchange position A.

When the claw removing cylinder 91 is operated from this state to lower the push-in pin 94 together with the lower piston rod 91b, the claw 12 is released from the chuck 6 and the projecting piece of the catching member 196 of the robot hand 185 is released. 19
Only 7 is hooked and held. Further, since the operating piece 104 moves down together with the upper piston rod 91a by the operation of the claw removing cylinder 91, the guide pin 168 of the claw engaging pin 51 provided in the fourth holding groove 166 has the operating piece 104.
Guided by the inclined portion 172 of the guide groove 173, it retreats in the non-locking direction. Next, the robot hand 185 moves up while hooking and holding the claws 12, and the claw mounting groove 10 of the chuck 6 is lifted.
The claw 12 extracted from (shown in FIG. 2) is guided into the fourth holding groove 166 as shown by an imaginary line in FIG.

Next, the pawl removing cylinder 91 is moved upward to advance the pawl locking pin 51 in the locking direction, and the pawl locking pin 5 is moved.
The locking piece 53 at one tip is locked to the rack tooth 16 of the claw 12,
Further, because the robot hand 185 traverses the cassette 39, the robot hand 185 moves straight away from the cassette 39 until the protrusion 197 of the hooking member 196 stops engaging with the hooking piece 186 of the pawl 12, so that the pawl 12 moves. , The fourth holding groove 166
It is in a state in which it is held only by the pawl locking pin 51. From this state, the cassette 39 is traversed and the third holding groove 165 is indexed to the pawl exchange position A. However, in the traverse device 65, as described above, the stopper cylinder 6
8 is a forward projecting state, and the length regulating pin 181 is located between the left stopper bolt 81 and the contact member 80. Therefore, if the slider 72 of the traverse cylinder 66 is moved to the left, 3 Claw 12 held in holding groove 165
Will be positioned at the claw replacement position A. Then, the robot hand 185 approaches the chuck 6 again, and the protruding piece 197 of the hooking member 196 engages with the hooking piece 186 of the claw 12 (shown by a solid line in FIG. 13).

Next, the claw removing cylinder 91 is operated to remove the claw to move the meshing member 18 in the non-meshing direction, and
The claw locking pin 51 provided in the holding groove 165 is moved in the non-locking direction, and the claw 12 in the third holding groove 165 is held only by the robot hand 185. When the robot hand 185 is lowered from this state, the robot hand 18
13 is pulled out from the third holding groove 165 and guided into the claw mounting groove 10 of the chuck 6, as shown in FIG.
Is located at the position indicated by the phantom line.

Thereafter, the claw removing cylinder 91 is operated to move upward, the claw locking pin 51 is moved forward in the locking direction, the meshing member 18 is moved in the meshing direction, and the claw 12 for the next step is mounted on the chuck 6. Then, the robot hand 185 is separated from the chuck 6, and the protrusion 197 of the hooking member 196 stops the engagement of the hook 12 with the hooking piece 186 to rotate the main shaft, and the used hook 12 to be replaced next is split to the hook replacement position B. Put out (Fig. 1
4).

When the replacement of the first claw between the cassette 39 and the chuck 6 is completed as described above, the replacement of the second and third claws 12 is completed in the same manner, and the forward / backward moving cylinder 35 is moved. After returning to the old state, the entire pawl exchanging device is retracted to wait until the next pawl exchange.

Next, the stocker 300 and the robot hand 1
Replacement of the claw between 85 will be described. In this work, first, the controller 312 sets the robot 299 and the robot hand 18.
The robot hand 18 by controlling the motors M1 to M5
5 is moved to the upper side of the stocker 300 as shown by a virtual line in FIG. At this time, among the used claws 12 held by the robot hand 185, the guide block 198 corresponding to the shift body 201 that engages with the engaging piece 209 has the claw fitting groove 304 with which the claw is not fitted. It is located on a straight line. Then, from this state, the shift motor M5 is driven to lower the claw 12 together with the shift body 201, and the claw 12 is securely fitted into the claw fitting groove 304. After that, the robot hand 185 is retracted so that the shift body 201 stops engaging with the pawl 12, the shift body 201 is raised by the action of the shift motor M5, and the claw support member 192 is actuated by the indexing motor M4. The shift body 201 that is rotated and holds the second claw 12 is engaged with the engaging piece 209. After that, the second and third claws 12 held by the robot hand 185 also have the same action as that of the first claw 12 and the claw fitting groove 30.
It is fitted and held in No. 4.

Next, as described above, the robot hand 185, which has finished moving the used claws 12 to the stocker 300, moves in a state where the shift body 201 is lowered by the action of the shift motor M5 and is stored in the stocker 300. Claws 12
Among them, the first claw 12 for the post-process is hooked and held by the shift body 201. At this time, the claw fitting groove 304 into which the claw 12 is fitted is aligned with the guide block 198, and when the shift body 201 is raised by the shift motor M5, the claw is fitted into the guide block 198 and then indexed. The pawl support member 192 is rotated by the motor M4, and the other shift body 201 not hooking the pawl 12 is engaged with the engagement piece 209. After that, the second one fitted and held in the stocker 300,
The third post-process claw 12 is also hooked and held by the robot hand 185 in the same manner as the first claw 12 and the claw replacement work between the robot hand and the stocker is completed.

As described above, in the automatic chuck jaw changing device 320 of this embodiment, the stocker 300 and the cassette 39 are used.
When replacing the claws between the robot hand 185 and the stocker 300 or between the robot hand 185 and the cassette 39 in the claw replacement, the guide block 198 of the robot hand 185 and the claw fitting groove 304 of the stocker 300 or the guide block 198 and the cassette are replaced. 39 holding grooves 163, 164
Claw 12 with 165 and 166 aligned with each other
The shift body 201 which can be hooked is moved up and down, and when the pawl 12 is conveyed by the robot hand 185 between the stocker 300 and the cassette 39, the pawl 12 is hooked and held by the shift body 201 and is guided to the guide block 198. Since the insertion and the positioning are performed in the front, rear, left, and right positions, the claws 12 can be replaced and the work can always be carried out stably. Further, the hooking piece 186 of the claw 12 with which the shift body 201 of the robot hand 185 is caught is
Since it is provided on the back surface (on the side of the rack 16), the size of the top jaw is not restricted.

[0035]

As described above, according to the present invention, the robot hand is constructed by providing the main body thereof with the guide block for vertically inserting and guiding the claws hooked on the shift body by raising and lowering the shift body. The work of exchanging the claw between the cassette and the cassette by the robot hand can always be stably performed regardless of the weight of the claw.

[Brief description of drawings]

FIG. 1 is a front view of a claw changing device.

FIG. 2 is a side view showing a part of FIG. 1 as a cross section.

FIG. 3 is a plan view of FIG.

FIG. 4 is a front view of a robot hand.

5 is a sectional view taken along line VV of FIG.

6 is a cross-sectional view taken along the line VI-VI of FIG.

FIG. 7 is a diagram for explaining a claw replacement operation between the robot hand and the cassette.

FIG. 8 is a diagram for explaining a claw replacement operation between the robot hand and the cassette.

FIG. 9 is a diagram for explaining a claw replacement operation between the robot hand and the cassette.

FIG. 10 is a diagram for explaining the action of replacing the claw between the robot hand and the cassette.

FIG. 11 is a diagram for explaining a claw replacement action between the cassette and the chuck.

FIG. 12 is a diagram for explaining a claw replacement action between the cassette and the chuck.

FIG. 13 is an explanatory view of a claw replacement operation between the cassette and the chuck.

FIG. 14 is a diagram for explaining a claw replacement action between the cassette and the chuck.

FIG. 15 is a plan view of an automatic chuck jaw changing device.

16 is an enlarged view seen from R in FIG.

[Explanation of symbols]

6 chucks, 12 claws, 39 cassettes (claw holders), 185 robot hands, 198 guide blocks, 201 shift bodies, 300 stockers, 32
0 Automatic chuck jaw changer

Claims (1)

[Claims] 1. A chuck claw for automatically changing claws between a chuck and a claw holder and automatically changing claws between a stocker and a claw holder separately provided by a robot hand. In the automatic exchange device, the robot hand is provided with a shift body capable of hooking a claw on its main body so as to be vertically movable, and a guide block for vertically inserting and guiding the claw hooked on the shift body. A robot hand used for an automatic chuck claw changer characterized by being configured.